Moved all drivers to new world, PX4IO completely in new world

1 files changed, 0 insertions, 644 deletions

diff --git a/apps/px4io/registers.c b/apps/px4io/registers.c
deleted file mode 100644
index 6c09def9e..000000000
--- a/apps/px4io/registers.c
+++ /dev/null
@@ -1,644 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file registers.c
- *
- * Implementation of the PX4IO register space.
- */
-
-#include <nuttx/config.h>
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include <drivers/drv_hrt.h>
-
-#include "px4io.h"
-#include "protocol.h"
-
-static int	registers_set_one(uint8_t page, uint8_t offset, uint16_t value);
-static void	pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t altrate);
-
-/**
- * PAGE 0
- *
- * Static configuration parameters.
- */
-static const uint16_t	r_page_config[] = {
-	[PX4IO_P_CONFIG_PROTOCOL_VERSION]	= 1,	/* XXX hardcoded magic number */
-	[PX4IO_P_CONFIG_SOFTWARE_VERSION]	= 1,	/* XXX hardcoded magic number */
-	[PX4IO_P_CONFIG_BOOTLOADER_VERSION]	= 3,	/* XXX hardcoded magic number */
-	[PX4IO_P_CONFIG_MAX_TRANSFER]		= 64,	/* XXX hardcoded magic number */
-	[PX4IO_P_CONFIG_CONTROL_COUNT]		= PX4IO_CONTROL_CHANNELS,
-	[PX4IO_P_CONFIG_ACTUATOR_COUNT]		= IO_SERVO_COUNT,
-	[PX4IO_P_CONFIG_RC_INPUT_COUNT]		= MAX_CONTROL_CHANNELS,
-	[PX4IO_P_CONFIG_ADC_INPUT_COUNT]	= ADC_CHANNEL_COUNT,
-	[PX4IO_P_CONFIG_RELAY_COUNT]		= PX4IO_RELAY_CHANNELS,
-};
-
-/**
- * PAGE 1
- *
- * Status values.
- */
-uint16_t		r_page_status[] = {
-	[PX4IO_P_STATUS_FREEMEM]		= 0,
-	[PX4IO_P_STATUS_CPULOAD]		= 0,
-	[PX4IO_P_STATUS_FLAGS]			= 0,
-	[PX4IO_P_STATUS_ALARMS]			= 0,
-	[PX4IO_P_STATUS_VBATT]			= 0,
-	[PX4IO_P_STATUS_IBATT]			= 0
-};
-
-/**
- * PAGE 2
- *
- * Post-mixed actuator values.
- */
-uint16_t 		r_page_actuators[IO_SERVO_COUNT];
-
-/**
- * PAGE 3
- *
- * Servo PWM values
- */
-uint16_t		r_page_servos[IO_SERVO_COUNT];
-
-/**
- * PAGE 4
- *
- * Raw RC input
- */
-uint16_t		r_page_raw_rc_input[] =
-{
-	[PX4IO_P_RAW_RC_COUNT]			= 0,
-	[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + MAX_CONTROL_CHANNELS)] = 0
-};
-
-/**
- * PAGE 5
- *
- * Scaled/routed RC input
- */
-uint16_t		r_page_rc_input[] = {
-	[PX4IO_P_RC_VALID]			= 0,
-	[PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + MAX_CONTROL_CHANNELS)] = 0
-};
-
-/**
- * Scratch page; used for registers that are constructed as-read.
- *
- * PAGE 6 Raw ADC input.
- * PAGE 7 PWM rate maps.
- */
-uint16_t		r_page_scratch[32];
-
-/**
- * PAGE 100
- *
- * Setup registers
- */
-volatile uint16_t	r_page_setup[] =
-{
-	[PX4IO_P_SETUP_FEATURES]		= 0,
-	[PX4IO_P_SETUP_ARMING]			= 0,
-	[PX4IO_P_SETUP_PWM_RATES]		= 0,
-	[PX4IO_P_SETUP_PWM_DEFAULTRATE]		= 50,
-	[PX4IO_P_SETUP_PWM_ALTRATE]		= 200,
-	[PX4IO_P_SETUP_RELAYS]			= 0,
-	[PX4IO_P_SETUP_VBATT_SCALE]		= 10000,
-	[PX4IO_P_SETUP_IBATT_SCALE]		= 0,
-	[PX4IO_P_SETUP_IBATT_BIAS]		= 0,
-	[PX4IO_P_SETUP_SET_DEBUG]		= 0,
-};
-
-#define PX4IO_P_SETUP_FEATURES_VALID	(0)
-#define PX4IO_P_SETUP_ARMING_VALID	(PX4IO_P_SETUP_ARMING_ARM_OK | \
-					 PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \
-					 PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK)
-#define PX4IO_P_SETUP_RATES_VALID	((1 << IO_SERVO_COUNT) - 1)
-#define PX4IO_P_SETUP_RELAYS_VALID	((1 << PX4IO_RELAY_CHANNELS) - 1)
-
-/**
- * PAGE 101
- *
- * Control values from the FMU.
- */
-volatile uint16_t	r_page_controls[PX4IO_CONTROL_CHANNELS];
-
-/*
- * PAGE 102 does not have a buffer.
- */
-
-/**
- * PAGE 103
- *
- * R/C channel input configuration.
- */
-uint16_t		r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE];
-
-/* valid options */
-#define PX4IO_P_RC_CONFIG_OPTIONS_VALID	(PX4IO_P_RC_CONFIG_OPTIONS_REVERSE | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED)
-
-/*
- * PAGE 104 uses r_page_servos.
- */
-
-/**
- * PAGE 105
- *
- * Failsafe servo PWM values
- */
-uint16_t		r_page_servo_failsafe[IO_SERVO_COUNT];
-
-void
-registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
-{
-
-	switch (page) {
-
-		/* handle bulk controls input */
-	case PX4IO_PAGE_CONTROLS:
-
-		/* copy channel data */
-		while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
-
-			/* XXX range-check value? */
-			r_page_controls[offset] = *values;
-
-			offset++;
-			num_values--;
-			values++;
-		}
-
-		system_state.fmu_data_received_time = hrt_absolute_time();
-		r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
-        	r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST;
-		r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PWM;
-		
-		break;
-
-		/* handle raw PWM input */
-	case PX4IO_PAGE_DIRECT_PWM:
-
-		/* copy channel data */
-		while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
-
-			/* XXX range-check value? */
-			r_page_servos[offset] = *values;
-
-			offset++;
-			num_values--;
-			values++;
-		}
-
-		system_state.fmu_data_received_time = hrt_absolute_time();
-		r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM;
-
-		break;
-
-		/* handle setup for servo failsafe values */
-	case PX4IO_PAGE_FAILSAFE_PWM:
-
-		/* copy channel data */
-		while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
-
-			/* XXX range-check value? */
-			r_page_servo_failsafe[offset] = *values;
-
-			offset++;
-			num_values--;
-			values++;
-		}
-		break;
-
-		/* handle text going to the mixer parser */
-	case PX4IO_PAGE_MIXERLOAD:
-		mixer_handle_text(values, num_values * sizeof(*values));
-		break;
-
-	default:
-		/* avoid offset wrap */
-		if ((offset + num_values) > 255)
-			num_values = 255 - offset;
-
-		/* iterate individual registers, set each in turn */
-		while (num_values--) {
-			if (registers_set_one(page, offset, *values))
-				break;
-			offset++;
-			values++;
-		}
-	}
-}
-
-static int
-registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
-{
-	switch (page) {
-
-	case PX4IO_PAGE_STATUS:
-		switch (offset) {
-		case PX4IO_P_STATUS_ALARMS:
-			/* clear bits being written */
-			r_status_alarms &= ~value;
-			break;
-
-		case PX4IO_P_STATUS_FLAGS:
-			/* 
-			 * Allow FMU override of arming state (to allow in-air restores),
-			 * but only if the arming state is not in sync on the IO side.
-			 */
-			if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
-				r_status_flags = value;
-			}
-			break;
-
-		default:
-			/* just ignore writes to other registers in this page */
-			break;
-		}
-		break;
-
-	case PX4IO_PAGE_SETUP:
-		switch (offset) {
-		case PX4IO_P_SETUP_FEATURES:
-
-			value &= PX4IO_P_SETUP_FEATURES_VALID;
-			r_setup_features = value;
-
-			/* no implemented feature selection at this point */
-
-			break;
-
-		case PX4IO_P_SETUP_ARMING:
-
-			value &= PX4IO_P_SETUP_ARMING_VALID;
-
-			/*
-			 * Update arming state - disarm if no longer OK.
-			 * This builds on the requirement that the FMU driver
-			 * asks about the FMU arming state on initialization,
-			 * so that an in-air reset of FMU can not lead to a
-			 * lockup of the IO arming state.
-			 */
-			if ((r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && !(value & PX4IO_P_SETUP_ARMING_ARM_OK)) {
-				r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
-			}
-
-			r_setup_arming = value;
-
-			break;
-
-		case PX4IO_P_SETUP_PWM_RATES:
-			value &= PX4IO_P_SETUP_RATES_VALID;
-			pwm_configure_rates(value, r_setup_pwm_defaultrate, r_setup_pwm_altrate);
-			break;
-
-		case PX4IO_P_SETUP_PWM_DEFAULTRATE:
-			if (value < 50)
-				value = 50;
-			if (value > 400)
-				value = 400;
-			pwm_configure_rates(r_setup_pwm_rates, value, r_setup_pwm_altrate);
-			break;
-
-		case PX4IO_P_SETUP_PWM_ALTRATE:
-			if (value < 50)
-				value = 50;
-			if (value > 400)
-				value = 400;
-			pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value);
-			break;
-
-		case PX4IO_P_SETUP_RELAYS:
-			value &= PX4IO_P_SETUP_RELAYS_VALID;
-			r_setup_relays = value;
-			POWER_RELAY1(value & (1 << 0) ? 1 : 0);
-			POWER_RELAY2(value & (1 << 1) ? 1 : 0);
-			POWER_ACC1(value & (1 << 2) ? 1 : 0);
-			POWER_ACC2(value & (1 << 3) ? 1 : 0);
-			break;
-
-		case PX4IO_P_SETUP_SET_DEBUG:
-			r_page_setup[PX4IO_P_SETUP_SET_DEBUG] = value;
-			isr_debug(0, "set debug %u\n", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG]);
-			break;
-
-		default:
-			return -1;
-		}
-		break;
-
-	case PX4IO_PAGE_RC_CONFIG: {
-
-		/* do not allow a RC config change while fully armed */
-		if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
-		    /* IO is armed */  (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
-			break;
-		}
-
-		unsigned channel = offset / PX4IO_P_RC_CONFIG_STRIDE;
-		unsigned index = offset - channel * PX4IO_P_RC_CONFIG_STRIDE;
-		uint16_t *conf = &r_page_rc_input_config[channel * PX4IO_P_RC_CONFIG_STRIDE];
-
-		if (channel >= MAX_CONTROL_CHANNELS)
-			return -1;
-
-		/* disable the channel until we have a chance to sanity-check it */
-		conf[PX4IO_P_RC_CONFIG_OPTIONS] &= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
-
-		switch (index) {
-
-		case PX4IO_P_RC_CONFIG_MIN:
-		case PX4IO_P_RC_CONFIG_CENTER:
-		case PX4IO_P_RC_CONFIG_MAX:
-		case PX4IO_P_RC_CONFIG_DEADZONE:
-		case PX4IO_P_RC_CONFIG_ASSIGNMENT:
-			conf[index] = value;
-			break;
-
-		case PX4IO_P_RC_CONFIG_OPTIONS:
-			value &= PX4IO_P_RC_CONFIG_OPTIONS_VALID;
-			r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK;
-
-			/* set all options except the enabled option */
-			conf[index] = value & ~PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
-
-			/* should the channel be enabled? */
-			/* this option is normally set last */
-			if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
-				uint8_t count = 0;
-
-				/* assert min..center..max ordering */
-				if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) {
-					count++;
-				}
-				if (conf[PX4IO_P_RC_CONFIG_MAX] > 2500) {
-					count++;
-				}
-				if (conf[PX4IO_P_RC_CONFIG_CENTER] < conf[PX4IO_P_RC_CONFIG_MIN]) {
-					count++;
-				}
-				if (conf[PX4IO_P_RC_CONFIG_CENTER] > conf[PX4IO_P_RC_CONFIG_MAX]) {
-					count++;
-				}
-
-				/* assert deadzone is sane */
-				if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) {
-					count++;
-				}
-				// The following check isn't needed as constraint checks in controls.c will catch this.
-				//if (conf[PX4IO_P_RC_CONFIG_MIN] > (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
-				//	count++;
-				//}
-				//if (conf[PX4IO_P_RC_CONFIG_MAX] < (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
-				//	count++;
-				//}
-				if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= MAX_CONTROL_CHANNELS) {
-					count++;
-				}
-
-				/* sanity checks pass, enable channel */
-				if (count) {
-					isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1));
-					r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK;
-				} else {
-					conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
-				}
-			}
-			break;
-			/* inner switch: case PX4IO_P_RC_CONFIG_OPTIONS */
-
-		}
-		break;
-		/* case PX4IO_RC_PAGE_CONFIG */
-	}
-
-	default:
-		return -1;
-	}
-	return 0;
-}
-
-uint8_t last_page;
-uint8_t last_offset;
-
-int
-registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values)
-{
-#define SELECT_PAGE(_page_name)							\
-	do {									\
-		*values = &_page_name[0];					\
-		*num_values = sizeof(_page_name) / sizeof(_page_name[0]);	\
-	} while(0)
-
-	switch (page) {
-
-	/*
-	 * Handle pages that are updated dynamically at read time.
-	 */
-	case PX4IO_PAGE_STATUS:
-		/* PX4IO_P_STATUS_FREEMEM */
-		{
-			struct mallinfo minfo = mallinfo();
-			r_page_status[PX4IO_P_STATUS_FREEMEM] = minfo.fordblks;
-		}
-
-		/* XXX PX4IO_P_STATUS_CPULOAD */
-
-		/* PX4IO_P_STATUS_FLAGS maintained externally */
-
-		/* PX4IO_P_STATUS_ALARMS maintained externally */
-
-		/* PX4IO_P_STATUS_VBATT */
-		{
-			/*
-			 * Coefficients here derived by measurement of the 5-16V
-			 * range on one unit:
-			 *
-			 * V   counts
-			 *  5  1001
-			 *  6  1219
-			 *  7  1436
-			 *  8  1653
-			 *  9  1870
-			 * 10  2086
-			 * 11  2303
-			 * 12  2522
-			 * 13  2738
-			 * 14  2956
-			 * 15  3172
-			 * 16  3389
-			 *
-			 * slope = 0.0046067
-			 * intercept = 0.3863
-			 *
-			 * Intercept corrected for best results @ 12V.
-			 */
-			unsigned counts = adc_measure(ADC_VBATT);
-			unsigned mV = (4150 + (counts * 46)) / 10 - 200;
-			unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000;
-
-			r_page_status[PX4IO_P_STATUS_VBATT] = corrected;
-		}
-
-		/* PX4IO_P_STATUS_IBATT */
-		{
-			unsigned counts = adc_measure(ADC_VBATT);
-			unsigned scaled = (counts * r_page_setup[PX4IO_P_SETUP_IBATT_SCALE]) / 10000;
-			int corrected = scaled + REG_TO_SIGNED(r_page_setup[PX4IO_P_SETUP_IBATT_BIAS]);
-			if (corrected < 0)
-				corrected = 0;
-			r_page_status[PX4IO_P_STATUS_IBATT] = corrected;
-		}
-
-		SELECT_PAGE(r_page_status);
-		break;
-
-	case PX4IO_PAGE_RAW_ADC_INPUT:
-		memset(r_page_scratch, 0, sizeof(r_page_scratch));
-		r_page_scratch[0] = adc_measure(ADC_VBATT);
-		r_page_scratch[1] = adc_measure(ADC_IN5);
-
-		SELECT_PAGE(r_page_scratch);
-		break;
-
-	case PX4IO_PAGE_PWM_INFO:
-		memset(r_page_scratch, 0, sizeof(r_page_scratch));
-		for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
-			r_page_scratch[PX4IO_RATE_MAP_BASE + i] = up_pwm_servo_get_rate_group(i);
-
-		SELECT_PAGE(r_page_scratch);
-		break;
-
-	/*
-	 * Pages that are just a straight read of the register state.
-	 */
-
-	/* status pages */
-	case PX4IO_PAGE_CONFIG:
-		SELECT_PAGE(r_page_config);
-		break;
-	case PX4IO_PAGE_ACTUATORS:
-		SELECT_PAGE(r_page_actuators);
-		break;
-	case PX4IO_PAGE_SERVOS:
-		SELECT_PAGE(r_page_servos);
-		break;
-	case PX4IO_PAGE_RAW_RC_INPUT:
-		SELECT_PAGE(r_page_raw_rc_input);
-		break;
-	case PX4IO_PAGE_RC_INPUT:
-		SELECT_PAGE(r_page_rc_input);
-		break;
-
-	/* readback of input pages */
-	case PX4IO_PAGE_SETUP:
-		SELECT_PAGE(r_page_setup);
-		break;
-	case PX4IO_PAGE_CONTROLS:
-		SELECT_PAGE(r_page_controls);
-		break;
-	case PX4IO_PAGE_RC_CONFIG:
-		SELECT_PAGE(r_page_rc_input_config);
-		break;
-	case PX4IO_PAGE_DIRECT_PWM:
-		SELECT_PAGE(r_page_servos);
-		break;
-	case PX4IO_PAGE_FAILSAFE_PWM:
-		SELECT_PAGE(r_page_servo_failsafe);
-		break;
-
-	default:
-		return -1;
-	}
-
-#undef SELECT_PAGE
-#undef COPY_PAGE
-
-last_page = page;
-last_offset = offset;
-
-	/* if the offset is at or beyond the end of the page, we have no data */
-	if (offset >= *num_values)
-		return -1;
-
-	/* correct the data pointer and count for the offset */
-	*values += offset;
-	*num_values -= offset;
-
-	return 0;
-}
-
-/*
- * Helper function to handle changes to the PWM rate control registers.
- */
-static void
-pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t altrate)
-{
-	for (unsigned pass = 0; pass < 2; pass++) {
-		for (unsigned group = 0; group < IO_SERVO_COUNT; group++) {
-
-			/* get the channel mask for this rate group */
-			uint32_t mask = up_pwm_servo_get_rate_group(group);
-			if (mask == 0)
-				continue;
-
-			/* all channels in the group must be either default or alt-rate */
-			uint32_t alt = map & mask;
-
-			if (pass == 0) {
-				/* preflight */
-				if ((alt != 0) && (alt != mask)) {
-					/* not a legal map, bail with an alarm */
-					r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR;
-					return;
-				}
-			} else {
-				/* set it - errors here are unexpected */
-				if (alt != 0) {
-					if (up_pwm_servo_set_rate_group_update(group, r_setup_pwm_altrate) != OK)
-						r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR;
-				} else {
-					if (up_pwm_servo_set_rate_group_update(group, r_setup_pwm_defaultrate) != OK)
-						r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR;
-				}
-			}
-		}
-	}
-	r_setup_pwm_rates = map;
-	r_setup_pwm_defaultrate = defaultrate;
-	r_setup_pwm_altrate = altrate;
-}